Path Planning Approach in Unknown Environment

来源 :国际自动化与计算杂志(英文版) | 被引量 : 0次 | 上传用户:yueliangjing
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
This paper presents a new algorithm of path planning for mobile robots, which utilises the characteristics of the obstacle border and fuzzy logical reasoning. The environment topology or working space is described by the time-variable grid method that can be further described by the moving obstacles and the variation of path safety. Based on the algorithm, a new path planning approach for mobile robots in an unknown environment has been developed. The path planning approach can let a mobile robot find a safe path from the current position to the goal based on a sensor system. The two types of machine learning: advancing learning and exploitation learning or trial learning are explored, and both are applied to the learning of mobile robot path planning algorithm. Comparison with A* path planning approach and various simulation results are given to demonstrate the efficiency of the algorithm. This path planning approach can also be applied to computer games.
其他文献
逆变器是把直流电转变成交流电的装置。本设计采用EG8010逆变器专用芯片产生正弦波,以12V蓄电池作为输入,采用IR2110驱动,工频变压器进行升压,同时设计了过压保护、过温保护、过
本文根据宿迁城区短历时降雨实测资料和江苏省长历时水利24h暴雨雨型对K&C法雨型进行验证,成果验证了宿迁城区长、短历时降雨类型均可利用K&C进行概括。
以山西省兴保铁路Ⅱ标郑家塔新黄土隧道15.9m浅埋、偏压段施工的工程实例,论述了新黄土隧道过浅埋、偏压V型冲沟控制变形及安全通过的施工方法、施工工艺。总结了新黄土隧道开
随着社会的发展,人们用电量的需求日益增大,促进了火力发电厂的发展,其规模在不断扩大,对热工仪表在监测其各项参数的精确度的要求也越来越高。火力发电厂热工仪表是发电厂内应用
无人机具有机动灵活、快速、操作简单、经济高效等特点,在怀洪新河大面积地形图测量任务中,可以获取测区高精度的正射影像和模型,采用PPK可减少像控点布设,结合北京山维EPS软
建筑工程施工管理的第一要务就是要保证工程施工质量满足有关的质量需求。当前由于工程的施工过程及其复杂繁琐,且其涉及的部门多、范围广,且施工历时较长,再加上施工人员技术水